// BSD 3-Clause License
//
// Copyright (c) 2021, BlueSpace.ai, Inc.
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//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
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//  are permitted provided that the following conditions are met:
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//      this list of conditions, and the following disclaimer.
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//      this list of conditions, and the following disclaimer in the documentation
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//      may be used to endorse or promote products derived from this software without
//      specific prior written permission.
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#ifndef ANGULARVELOCITYPUBLISHER_H
#define ANGULARVELOCITYPUBLISHER_H

#include "packetcallback.hpp"
#include <geometry_msgs/msg/vector3_stamped.hpp>

struct AngularVelocityPublisher : public PacketCallback
{
  rclcpp::Publisher<geometry_msgs::msg::Vector3Stamped>::SharedPtr pub;
  std::string frame_id = DEFAULT_FRAME_ID;

  AngularVelocityPublisher(rclcpp::Node & node)
  {
    int pub_queue_size = 5;
    node.get_parameter("publisher_queue_size", pub_queue_size);
    pub = node.create_publisher<geometry_msgs::msg::Vector3Stamped>(
      "/imu/angular_velocity",
      pub_queue_size);
    node.get_parameter("frame_id", frame_id);
  }

  void operator()(const XsDataPacket & packet, rclcpp::Time timestamp)
  {
    if (packet.containsCalibratedGyroscopeData()) {
      geometry_msgs::msg::Vector3Stamped msg;

      msg.header.stamp = timestamp;
      msg.header.frame_id = frame_id;

      XsVector gyro = packet.calibratedGyroscopeData();

      msg.vector.x = gyro[0];
      msg.vector.y = gyro[1];
      msg.vector.z = gyro[2];

      pub->publish(msg);
    }
  }
};

#endif
